Steering control



March 12, 1946. A. D. TRENOR STEERING CONTROL Original Filed Aug. 17, 1929 '7 Sheets-Sheet 1 ATTO EY March 12, 1946. A. D. TRENOR STEERING CONTROL 64 Original Filed Aug. 17 1929 7 Sheets-Sheet 2 INVEN R.

W l4) l'm/ wr BY March 12, 1946. r A. D. TRENOR 2,396,478

STEERING CONTROL Original Filed Aug. 17 1929 7 Sheets-Sheet 3 INVEN &

40 W0 M WMM g ATTORNEY March 12, 1946. A.'D. TRENOR STEERING CONTROL 7 Sheets-Sheet 4 Original Filed Aug. 17 1929 INVEN 614M11 5 7 1 I ATTOR?E Y March 1946- f A. D. TRENOR 2,396,478

STEERING CONTROL Original Filed Aug. 17, 1929 7 Sheets-Sheet 5 27; 204 ATTORNEY Z [NI M95.

w t) K9 M A. D. TRENOR STEERING CONTROL March 12, 1946.

Original Filed Aug. 17, 1929 7 Sheets-She et e A T TORNEY Mai'ch 12, 1946.

. A. D. \TRENOR STEERING CONTROL 7 Sheets-Sheet 7 Original Filed Aug. 17, 1929 INVEN 0R.- 8% K9 Me/f ATTORNEY Patented Mar. 12, 1946 STATES PATENT FICE 2,396,478 STEERING CONTROL Navy Application August 17, 1929, Serial No. 386,579 Renewed July 2, 1931 10 Claims.

The invention relates to the control of selfpropelled moving bodies, and more particularly to a new and improved means for controlling the action of a torpedo.

The invention provides for the incorporation in a torpedo of steering means controlled from a distance for modifying the movement of the torpedo after it has been launched. This steering means is rendered operative in response to radiant impulses transmitted from a, distance, and selectively effects the deviation of the torpedo to port or starboard by any predetermined number of degrees.

The invention further provides locking means associated with said steering means for locking certain elements of said steering means, whereby over running and other undesired operations thereof is prevented.

The invention also consists in certain new and original features of construction and combinations of parts hereinafter set forth and claimed.

Although the novel features which are believed to be characteristic of this invention will be particularly pointed out in the claims appended hereto, the invention itself, as to its objects and advantages, the mode of its operation and the manner of its organization may be better understood by referring to the following description taken in connection with the accompanying drawings forming a part thereof, in which Fig. l is a diagrammatic sectional view of a, portion of the torpedo embodying the features of the present invention.

Fig. 2 is a section taken on line 2-2 of Fig. 1.

Fig. 3 is a top plan view of the stabilizing mechanism of Fig. 1;

Fig. 4 is a side elevation, partly in section, of the stabilizing mechanism;

Fig. 5 is a sectional View taken on line 5-5 of Fig. 4;

Fig. 6 is a sectional view taken on line 6-6 of Fig. 4;

Fig. 7 is a sectional view taken on line l-l of Fig. 3;

Fig. 8 is a cross sectional elevation of part of the locking steering mechanism;

Fig. 9 is a longitudinal sectional elevation of the locking steering mechanism with its associated fluid pressure means in an inoperative position;

Fig. 10 is an elevation of the locking steering mechanism in the position shown in Fig. 9;

Fig 11 is a sectional view taken on line ll-l| of Fig. 8 showing the locking mechanism in an operative position;

Fig. 12 is a sectional view taken on line l2l2 of Fig. 10;

Fig. 13 is a sectional View taken on line I3-l3 of Fig. 8 showing the locking mechanism in position corresponding to Fig. 11;

Fig. 14 is a sectional view taken on line I i-l4 of Fig. 13;

Fig. 15 is a side elevation of the rotary valve and the delay action mechanism;

Fig. 16 is a sectional view taken on line 116-16 of Fig. 15;

Fig. 17 is a top plan view, partly in section, of the rotary valve and delay action mechanism;

Fig. 18 is a diagrammatic illustration of the control apparatus including the radio receiving set and the electric magnetically controlled valve.

Like reference characters denote like parts in the several figures of the drawings.

In the following description and in the claims parts will be identified by specific names for convenience, but they are intended to be as generic in their application to similar parts as the art will permit.

Referring to Fig. 1, there is shown a water borne bodyforming a carrier of explosives, having a water-tight torpedo hull l9, and arranged to be propelled by a pair of propellers l I, I I. The propellers l I are mounted on a pair of concentric shafts, including an outer shaft 12, and an inner shaft l4. The shafts i2 and M are directly connected to a driving means [5. The driving means I 5 preferably takes the form of a conventional compressed air turbine, the actuating fluid being delivered thereto through pipe IS. A gear I! is keyed to the outer shaft l2 for operative engagement with gear l9 to cause rotation of shaft 22.

Horizontal rudders for varying the direction of movement of the torpedo about its horizontal transverse axis may also be provided in a wellknown manner, but as such rudders and depth control devices for controlling the same are well known, it is thought that a more detailed description thereof is unnecessary herein.

For varying the direction of movement of the torpedo about a vertical axis so as to steer the torpedo in azimuth, there is provided a pair of blade rudders 3G pivotally mounted upon a pair of rotatable vertical rudder posts 3!, whereby the rudders 30 can be moved relative to the torpedo to control the direction of movement thereof. The rudder posts 3| are shown rigidly connected by a yoke 32 (see Fig. 2) which may be shifted according to requirements by a connecting rod 33 having one end pivotally connected thereto. The other end of the connecting rod 33 is pivotally secured to a piston rod 34 of a piston 35 which is mounted for. reciprocating movement in a cylinder 35. Adjacent the ends of the cylinder 35 are provided ports 31, 33, which are controlled by a slide valve 39 operating in a fluid pressure chest 40, which is in communication with a source of fluid pressure ll. The arrangement is such that the piston 35 is moved to the right or to the left according to the position of the valve 39 with respect to the ports 31, 3B. The respective ports of the cylinder 36 exhaust by way of the open ends of the valve chest to, when thevalve 39 has been moved to full open position in either direction.

For actuating the slide valve 39 and also for maintaining it in position to cause the torpedo to move upon a predetermined course, two mechgyroscopic action of the element 95 will tend to keep its axis in a fixed direction in space. Thus the plate $26 will always remain in its original position regardless of a change in direction of the torpedo.

For controlling the valve 39 by the above described apparatus the shaft 22 is rotated at a high speed by means of the gears I7 and i9, causing the beveled gear 83 to rotate the gear 82 and cam 8| rapidly. Rotation of the cam 8i imparts a corresponding rapid reciprocation to the plate anisms are employed, one operating automatically under control of a stabilizing device and the other operating at the will of an operator under distant control. The parts common to the two mechanisms include an extension 50 of the slide valve 39, and having its outer end operatively connected to the free end of a rocking arm the other end of which is securely fastened to a rock shaft 52 pivotally mounted in a fixed bracket 53.

As more clearly illustrated in Figs; 3 and 4, for actuating the rock shaft 51 there is provided a lever arm 65 terminating in a ball 6|, which is straddled by the bifurcated end of a bell crank 52, movement of which causes the shaft- 52 to rock in a desired direction. The bell crank 62 is pivotally mounted on a bracket 63 which is secured to the outer face of a rotatable cover plate 6 3. The cover plate 54 is mounted on a housing 65 by means of a pin 66 which is screwed into a bracket 61 of the housing 65. Pivoted to the lower arm of the bell crank 62 is a link 68, the opposite end of which is pivotally connected to an L shaped member 10 rotatably mounted upon a vertical pin H of the cover plate 64. A

similar member 12 is pivoted to the cover plate at 13. For actuating member 72 a link I4 isprovided pivotally connected to the inner ends of the members if! and 12. Slidably mounted between the feet of the bracket 63 is a reciprocating plate l5'in'which is rotatably mounted a member 16, the upper end of which is provided with a finger Tl which, when the plate 15 is reciprocated, engages either the member 10 or the member 12. The lower end of the member 16 is provided with two fingers 18 and 19, which are located in two planes, one above the other. The plate 15 is provided with a slot 80, which surrounds a cam 8|, rotatably mounted on-the pin 66. The upper part of the cam 8i is provided with a beveled gear 82 adapted to mesh with a second beveled gear 83 secured to the end of the shaft 22 having a bearing in the bracket 53. The shaft 22 is provided with a gear I 9, which meshes with the gear I! secured to the shaft l2. 7

Within the housing 65 is pivotally mounted a vertical gimbal ring 90, within which a horizontal gimbal ring Si is mounted bearing rotating massive element 95. Secured to the vertical gimbal ring 95 is a circular plate 96 cut away on either side as at 91 and 98. The cut away portions are arranged in different horizontal planes such that the cut away portion 91 lies in the same plane as the finger i8 and the cut away portion 98 lies in the plane of the finger 19. When the torpedo is discharged, the element 95 is set in rotation by means of a driving mechanism not shown, which isautomatically disconnected as the ele-'- ment is brought up to the desired speed. The

75, carrying with it the member 56. Thus, as the torpedo continues on a straight course, the fingers l8 and i9 will move in and out of the cut out portions 91 and as of the plate as, without affecting the position oftne member '15 or the finger 11, which will reciprocate between the ends of the members it and i2 without changing their positions. If the torpedo should deviate from a straight course, say for example to the left, the casing 65 being carried by the torpedo will be rotated in a counter-clockwise direction, thus carrying with it the member 16. As the fingers i8 and 19 are moved back and forth the finger 18 will strike the plate 9% at a part where it is not cut away, thus causing a relative rotation of the member iii in a counter-clockwise direction, which in turn will rotate the finger Ti in a like direction. As this reciprocates it will strike the end of the member '12 rotating it in a counterclockwise direction, which by means of the link 74 will rotate the member 70 in a like direction, thus causing the link 68 to be moved to the right, causing the bell crank .52 to be rotated in a counter-clockwise direction, thereby rotating the shaft 52 in a clockwise direction by the connection therewith of the ball iii and arm 69. It may be readily seen that by connection of the arm 5| to the shaft 52 rotation of the shaft 52 causes movementof the arm 5!, thus moving the valve 39 to the left. This will uncover the ports 3'! and 38, thus allowing air to enter the left-hand side of the cylinder 36 and pass from the right hand side, causing the piston 35 to be moved to the right which, by means of the piston rod 34 and the rod 33 will cause the rudders 30 to be moved to the right, thereby restoring the torpedo to its course.

If the torpedo deviates to the right a similar action, but in the opposite direction, will take place, causing therudders to be moved to the left. In this way, the torpedo is maintained upon a predetermined straight course under the control of the gyroscopic element 95.

For actuating the slide valve 39 at will, for

example from a distant station, the cover 54 has a portion of its periphery toothed as at I00, which is in mesh with a worm IE3! integrally mounted on a shaft Hi2, which has bearings in a frame Hi3, said frame being mounted on-the hull of the torpedo iii; The end of the shaft I02 is slotted and may be turned by means of a screw driver or other suitable tool inserted in an opening ID3A in the hull of the torpedo it. Secured to the shaft Hi2 is a pinion EM which meshes with a gear H351 Forming a part of this gear is one element of a clutch member let. The other element of this clutch member ii)? is slidably but not rotatably mounted on a shaft I08. To the end of this shaft is pinned a collar :09, between which and the clutch it'd, is disposed a coil spring H l, acting toscontinuously urge the clutch element it? into operative engagement with clutch element ltli. The clutch member I0! is provided with a groove H2, which is engaged by two pins II3 carried by a yoke 4; which is pivoted to the frame I03 at II5. Pressing against the yoke II4 is the end of a threaded shaft II6, which is screwed into the left hand side II8 of the frame I03, but is slidably mounted in the right hand side II9 of the frame as shown in Fig. 8. An opening H1 in the hull Ill is provided, through which a screw driver or other tool may be inserted for turning the shaft II6, the end of which is slotted for this purpose.

Keyed to the shaft I08 are two-'ratchets I 2I and I22, which face in opposite directions. En: gaging the teeth of these ratchets are two pawls I23 and I24, which are pivotally mountedat I23 and I29 on two plates I25 and I26 respectively. These plates are pinned to a gear 121, which is loosely mounted on the shaft I08. The pawls I23 and I24 are provided with pins I3I. and I32, which slide in slots I33 and I34 in the plate I25 and I26.

In these slots are mounted springs I35 and I36, which tend to hold the pawlsin the position shown. Engaging the pawls I23 and I24 are two cams I31 and I38, which are pivoted to the frame I03. Springs I39 are provided for holding these cams in the engaged positions. These cams are provided with teeth I4I, which extend over only half the width of the cam, and at suitable times engage the teeth of the ratchets I2I and I22.

Meshing with the gear I21 is a rack I142, which is slidably mounted in a bracket I43 of the frame I03. The rack I42 is pinned to the end of a tube I44, to which is secured a piston I45, which is slidably mounted in a cylinder I46. This cylinder I46 is mounted on an extension I58 of the frame I63. One endof this cylinder is provided with a stufiing box I41 and the other end with a cap I48, in which the tube I44 slides. Threaded in the end of this cap is a rod I49, which is turned down to a smaller diameter at the point II.

Against the shoulder formed thereby is disposed a collar I52, and pressing against this collar is a coil spring I53, the other end of which presses against the second collar I54, which is prevented from sliding off the rod I49 by means of a nut I55. This collar I54 normally engages a shoulder I56 on the inside of the tube I 44 formed by the reduction of the internal diameter of this tube. Pinned in the other end of the tube I44 is a sleeve I51, against which the collar I52 normally presses.

The ends of the cylinder I46 are connected to two pipes I6I and I62, which are connected to opposite sides of a rotary valve casing I63. Rotatably mounted in this casing is a direction control valve such as the rotary valve I54, which is provided with an exhaust port I65 and an inlet port I66. The rotary valve I64 is held in position by means of nuts I61 and a ball bearing I63. To the shaft of the rotary valve I64 are pinned two ratchets HI and I12, the former cooperating with a spring pressed pawl I13 pivotally mounted on the frame I14 and the latter with a spring pressed pawl I15, mounted .on a plate I16, which is secured to a gear I11 loosely mounted on the shaft of the rotary valve I64. Pawl I is provided with a cam surface I59, which cooperates with the pawl I13 to normally maintain said pawl I13 in disengagement from ratchet I12.

Meshing with the gear I11 is a rack I18, to one end of which is secured a piston I19 slirlably mounted in a cylinder I8I.' To the other-end of the rack I18 is pinned a dog I82 and a tube I63, and mounted therebetween is a collar I84. Loosely mounted on the tube I83 and between the collar I84 and the frame I14, is a coil spring Engaging the dog I82 is a plunger l9| slidably mounted in the bore I of the member I92, which in turn is slidably mounted on a rod I93, secured to the frame I94. The plunger IEII is provided with a slot I69 which engages a guide pin I16 secured to said member I92. In the base of said bore I96 is disposed a spring 260 which abuts the end of the plunger I9I. Loosely mounted on the rod I93 between the member I92 and the frame I94 is a coil spring I95. Mounted in the member I92 is a, rack I96, which meshes with a pinion I91, secured to a shaft I98 which is rotatably mounted in a secondary frame I99. Pinned to the shaft I98 is a ratchet 2DI, which engages two pawls 262, pivotally mounted on a gear 203, which is loosely mounted on the shaft I98. Springs 264 tend to hold the pawl 292 in engagement with the ratchet 2llI. Meshing with the gear 293 is a pinion 265, secured to a shaft 206, which is rotatably mounted in the secondary frame I99. Secured to the shaft 266 is a gear 201, which meshes with a pinion 263, secured to a shaft 269 mounted for rotation in the secondary frame I99. Secured to the upper end of the shaft 269 are two vanes 2I I.

The rack I96 is provided with a cam surface 2I5, which is engaged by a roller 2I6 rotatably mounted in the end of an arm 2 I1, which is pivotally mounted on a second arm 2I8, which is pivoted at 2| 9 to the frame I94. A spring 22I tends to rotate the arm 2I1 in a clock-wise direction. This motion i prevented, however, by a dog 222 integral with the arm 2 I1 and abutting the underside of the arm 2 I 6 (Fig. 11) Engaging the end of the arm 2 I8 is a valve stem 223, which is slidably mounted in a valve casing 224 on an impulse control valve 224A. A spring 225 holds the valve stem in the position shown, and a bracket 226' is mounted on the frame I94, and slides in a groove in the arm 2I8 so as to keep it in alignment with the valve stem 223. The valve casing 224 is provided with an inlet port 226 connected to a supply pipe 221, and an outlet port 228 connected to a pipe 22 9, which is always in'communication with an annular groove I66 of the rotary valve I64 and which sometimes is in communication with the longitudinal groove I69. An exhaust port 23I is provided at the end of the valve casing 224.

One end of the cylinder I8I is provided with a vent opening I86 and communicating with the other end is a pipe 233, which is connected to the outlet port 234 of a relay valve casing 235. Slidably mounted in this casing is a valve stem 236, which is held in the position shown in Fig. 18 by means of a spring 231. In the valve casing 235 is an inlet port 238 connected to a supply pipe 239. Exhaust port MI is provided at one end of the valve casing 235. One end of the valve stem 236 is connected by a link 242 to a core 243 of a solenoid 244, the casing 245 of which is made of magnetic material such as soft iron. The core 243 slides in a tube 246 of a nonmagnetic material such as brass, in the other end of which is mounted a fixed core 241 of magnetic material.

An annular piece 248 of magnetic material, eonnects the casing 245 with the core 241. Wound on the tube 246 is a winding 25I, the two ends of which are connected to conductors 252 and 253.

. For receiving radiant energy to operate the a solenoid 25I there is provided an insulated antenna 3I8, arranged to trail after the torpedo during its movement through the water, the outer end being insulated to prevent grounding. The torpedo end of the antenna is connected to a tapped inductance 490, one terminal of which is grounded to the hull I of the torpedo, The other terminal of the inductance is connected through a variable condenser ADI to ground, thus forming an open oscillatory circuit, which may be readily tuned by adjustment of the condenser to the frequency of energy, which is to be received. The inductance is inductively coupled to a secondary winding 362, which is shunted by a variable condenser W3, and forms in combination therewith a secondary, closed oscillatory circuit, which may be similarly tuned to the frequency of the received energy by adjustment of the con= denser. The secondary circuit is connected through a blocking condenser 45 5 to a three electrode thermionic device 365, preferably in the form of a so called vacuum tube having an evacuated container, a cathode, shown in the form of a heated filament, for emitting electrons, a grid for controlling the passage of electrons and a plate upon which the electrons impinge. The plate or output circuit includes an amplifier 406 'for amplifying the energy impressed thereon by the vacuum tube.

The vacuum tube thus serves as a detector of received energy which may take the form of complex radiant energy of high frequency, having impressed thereon intermediate amplitude variations modulated in accordance with a signal. The modulated intermediate frequency thus appears in the output circuit of the rectifying tube and is amplified by the amplifier. mediate frequency is impressed upon an inductance 461, having in shunt therewith a variable condenser tilt, the inductance and condenser forming in combination a closed oscillatory circuit which may be tuned to the intermediate frequency by adjustment of the variable condensers. The inductance is coupled to a tickler coil 409, which is included in the plate circuit of a vacuum tube oscillator 4H3, the input of which is connected to the inductance. The vacuum tube thus serves as a generator of the intermediate frequency which is combined with the modulated intermediate frequency in a second detector All to to the, original modulating current. The 'output circuit of detector MI includes an amplifier M2, the output of which is connected to the winding of a sensitive relay 3E9, whose contact controls a local circuit including a source of energy 320, and the winding of a secondary relay 32I. The contacts of the secondary relay 32I are included in a circuit having connected in series therewith a source of energy, such as a battery 250. It will thus be seen that when energy of predetermined characteristic is impressed upon the antenna 3I8 it is amplified and detected and serves to operate the relay Sis; and that the consequent operation of the relay Sis causes the operation of the secondary relay 32! which in turn causes the energization of solenoid 2M.

In the operation in the form of the invention shown in the accompanying figures, before the torpedo is fired, if it is desired to make .an angle shot, a too-l is inserted in the opening NBA and the shaft I02 is'rotated a predetermined number of revolutions, which is determined by the angle through.whichitis desired to have the torpedo The interproduce a low frequency current corresponding turned immediately afterfiring; The rotation of this shaft causes a rotation of the worm IDI, which in turn rotates the top plate $4 through the desired angle, but in the opposite direction in which it is desired'to turn the torpedo. The tool is then inserted in the opening Ill and the shaft IIB isrotated so as to allow the yoke H4 to swing to the right, which permits the engagement of the clutch members I51 and H16: under the action of the spring I I I.

Just before being discharged, the usual firing pin (not shown) is released so as to permit explosion of the charge when the torpedo strikes the target. The various electrical'circuits shown diagrammatically in the drawings are also closed by means of a conventional'switch connectedin series therewith but omitted from the drawings for the sake of simplicity, and the. source of supply of fluid medium I6 is turned on. The torpedo is thereupon discharged from .its tube and, the driving means I5 actuated to rotate the shafts I2, I4 and the propellers II, II. After turning through the desired angle in a manner already described in connection with the stabilizing means, the torpedo proceeds upon a straight course toward the enemy.

If it is seen that this course will not intersect the enemys course at the proper point to insure a hit, a suitable impulse of radiant energy is sent from a distant station. The radiant energy excites the antenna 3I8 which trails behind the torpedo. The signals are thus transmitted to a receiving circuit as illustrated in Fig. .18 in which they are detected and amplified. The amplified signal energy actuates the relay 3I9, which in turn closes the circuit including the battery 320, armature and front contact of the relay 3I9 and the winding of the secondary relay 32I, thus causing the actuation of the relay 32I. A circuit is then closed from. one pol of the battery 322, armature and front contact of the secondary relay 32I, the conductors 252 and 253, and the winding 25I thus energizing the solenoid 244. This causes a movement of the core 2.43 to the left, which in turn moves the valve stem 236 to the left, allowing air to enter from the supply pipe 239 to the outlet pipe 233. This air then passes to the cylinder I8 I, causing the piston I19 to be actuated downwardly. The rack I18 is thereby moved downwardly thus rotating the gear I" through half a revolution in a clockwise direction, as shown in Fig. 15. This effects a similar corresponding rotational movement of the plate I16 together with the pawl I75, which turns the ratchet I12 through a half a revolution, thus rotating the rotary valve I64 into the position shown in Fig. 17. As the shaft of the rotary valve turns through half a revolution the ratchet III will be engaged by the pawl I13, which has moved up into the path of this ratchet while the pawl I15 was rotating, thus stopping the rotation of the rotary valve after it .has made exactly half a revolution. At the same time, the dog I82 engages plunger I9I thereby causing a movement of the member I92 downwardly against the action of the spring I95 (Figs. 15 and 17).

This motion is very rapid and as the ratchet 20I is turned in a clockwise direction (Fig. .17) the pawls 202 slip idly over the teeth of the ratchet. As the rack I96 moves downwardly, the roller 2I6 rides over the cam surface 2I5, causing the arm 2I'I to be rotated about its pivot in a counterclockwise direction (Fig, 17) against the action of the spring 22L The spring 225 under these conditions is sufficientlyi strong-to prevent any change in the position of the secondary arm 2! 8. Upon the cessation of the wireless impulse, the solenoid 245 is ole-energized, thereby allowing the valve stem 236 to be restored to its normal position under the action of the spring 231. This cuts oif the supply of air to the pipe 233, and connects it to the exhaust port 24I, thus allowing air to be exhausted from the cylinder I89, and allowing the piston I19 to return upwardly under the action of the spring I85. This restores the plate 515 and the pawl I15 to the position shown in Fig. 15. At the same time, the dog E82 has moved upwardly, thus allowing the member I92, under the action of the spring I95, to be moved upwardly, drawing with it, the rack !95 which on this return motion rotates the pinion I91 and the shaft I98 determined angle in a, clockwise direction, as seen in Figs. 3 and 5, usually five degrees. The cover 64 in its movement carries the member 16 with it so that it is shifted relatively to the plate 96 in a clockwise direction. The operation is then the same as previously described for the automatic control, namely; the valve rod is shifted to admit fluid under pressure to the right hand end of the cylinder 36 thus causing the piston 35 to move and shift the rudder 30 in a clockwise direction so that the torpedo is directed towards the left, until it has moved through the same number of degrees that the cover 64 has been moved. When it has reached this position, the member has come into a neutral position with respect to the plate 96, and the .torpedo will then proceed upon the new course and the ratchet 2llI in a counter-clockwise direc- I tion (Fig. 17), thereby causing the pawl 202 to engage the teeth of the ratchet 235. This effects the rotation of the gear 293, which rotates the pinion 205 and the gear 261. This in turn rotates the pinion 298 and the vanes 2i I, thereby forming a wind damping arrangement, which causes the member I92 to proceed slowly upwardly, the speed depending upon the gear ratios and the size of the vanes 2. As the rack I95 moves slowly upwardly, the roller 2E5 rides upon the cam surface 2I5, but the arm 2E1 cannot rotate in a clockwise direction owing to the abutment of lug 222 against the under-side of the arm 2I8. The arm 2I1 moves to the right, therefore, thereby causing the rotation of the secondary arm 2 I8 about its pivot point 2H9. The motion of this arm is transmitted to the valve stem 223, which connects the supply pipe 221 to the outlet pipe 229, thus allowing air to enter this pipe, pass through the groove I56 to the pipe I62, thence to the right hand side of the cylinder I46 (Fig. 9). This causes the piston I45 to be moved to the left, while the air on the left hand side of the piston is being exhausted through the pipe I6 I and the exhaust port E65 of the rotary valve I46. As the piston moves to the left, it will draw the tube I44 to the left, which in turn will carry with it the collar I54, thus compressing the spring I53. At the same time, the rack I42 will be moved to the left, thus rotating the gear I21 in clock-wise direction (Fig. 9) through a third of a revolution, which in turn will move the plate I25 with the pawl M3 and the ratchet I2I through a third of a revolution from the position shown in Fig. 9, to the position shown in Fig. 11. It will be noted that when the end of the paw1 I23 moves out of engagement with the cam I31, this cam will rotate in a clock-wise direction (Fig.'11) under the control of the spring I39 and the tooth I4I will drop into engagement with the next tooth of the ratchet 52!. At the same time the pawl I24 from its original position shown in Fig. 10 will slide along the surface of the cam I38, which is so shaped that when the pawl is in its extreme position as shown in Fig. 13 the tooth M! will move into engagement with the teeth of ratchet 22 thereby looking the ratchet I 22 against further rotational movement in the direction indicated in Figs. 11 and 13. By this means the over running of the ratchets I2! and I22 will be avoided and the shaft I08 together with the gear I 55 will be rotated through exactly a third of a revolution, which will cause the gear IM to make exactly one complete revolution, this in turn rotating the shaft I02 and the worm lilI, which causes the plate 64 to be rotated through a precise preas required.

As the rack I93 continues to move to the left, the roller 2I6 will eventually drop oil the cam surface 2I5, and the secondary arm 2 I8 together with the valve stem 223 will be moved into their initial position under the action of the spring 225, thus shutting off the supply of air from the pipe 229, and connecting it to the exhaust port 23I. This will allow air to exhaust from right hand side of the cylinder I46, through the pipe I52, groove I66, pipe 229 and port 23I. The spring I53 will then move the tube I44 together with the piston I45 to the right, until the collar I54 engages the nut I55 which will move the rack I42 to the right, turning the gear I21 through a third of a revolution in a counter-clockwise direction, thus moving the plate I25 and the pawl I23 back into its initial position, as shown in Fig 9. As this takes place the tooth I4I of the pawl I31 will prevent the ratchet I2I from being rotated in a counter clockwise direction. At the end of this motion when the pawl I23 drops over the top tooth of the ratchet !2l the end of the pawl I 23 will engage the cam I31, moving the tooth I4I out of engagement with the ratchet I2 I 10. As this takes place the end of the pawl I24 will engage the cam I38 moving the tooth I4I out of engagement with the ratchet I22.

If it had been desired after the first impulsehad been sent to turn the torpedo through an additional five degrees to the left, two short impulses would be sent causing the rotary valve I64 to be turned through two half revolutions or one complete revolution into the same position as shown in Fig. 17. This complete revolution will have been accomplished before the valve 224 could have opened, as the opening of this valve is delayed by the damping mechanism already described. This will allow the operator time to turn the rotary valve through a complete revolution before air is allowed to enter pipe 229. After the cessation of the second of these two short impulses, the valve 224 will be opened for a brief interval, allowing air to pass into the pipe 229, through groove I66, along groove I69, through pipe I62, to the right hand side of cylinder I l-6. This, as already described will cause the torpedo to be turned through an additional five degrees to the left.

If it had originally been desired to direct the torpedo to theright instead of the left, the general sequence in the operation would be the same, excepting that two short impulses would have been transmitted from the sending station instead of the one impulses as already described. This would cause the rotary valve I64 to be turned through two half revolutions or one com plete revolution from the original position into a position in which the longitudinal groove I69 will be in communication with pipe I6I. At the same time the delay action will function as previously described, causing the valve 224 to be opened for a brief interval of time, during which air will pass from the supply 221, to the pipe 229, through the annular groove I66 into the longitudinal groove I69 then to the pipe I 6! and thence into the left hand side of cylinder I46. This will cause the piston to be moved to the right, drawing the collar I52 with it and compressing the spring I53.

This causes the rack I62 to be moved to the right, thus rotating the gear I 21 and the two plates I25 and IE6 through a third of a revolution in a counter-clockwise direction. ,During this movement, the pawl I23 slides along the surface of the cam I31, which will cause the tooth I4I to drop into the path of the ratchet I2 I thus preventing the same from turning through more than a third of a revolution. In this way, it is seen that the teeth II on the two pawls I31 and I38 form stop pawls when the ratchets are turned in one direction, andform click .p awls when the ratchets are turned in the opposite direction, thus forming an interlocking system which prevents the over running of the ratchets or their being carried backward on the return stroke. The. rotational movement of the plate I25 and I26 being transmitted to the shaft I08 will turn the shaft I02 through one complete revolution in a clockwise direction, thus causing the torpedos course to be shifted five degrees to the right. 7 It will be apparent that by suitably selecting the gears through which this motion is transmitted, the course of the torpedo can be shifted to port or to starboard any predetermined number of degrees as a result of the transmission of a radiant energy signal. It has been found desirable, however, ,to provide gear mechanisms, such, that the course of the torpedo is shifted through an angular distance of five degrees in response to each impulse.

It is obvious that thetorpedo may subsequently be changed as many times as may be desired by the transmission of one short impulse or two short impulses in order to position the rotary valve I 64 into required position. For instance, if the course of the torpedo has been shifted to left and it is desired that the next deviation of the course be to right it is only necessary to transmit a single additional impulse.

It is to be noted that by means of the present invention an eificient steering device responsive to remote control has been provided which selectively modifies the movement of the torpedo after it has been launched. It should also be noted that by associating locking means with saidv steering device the possibility of the steering elements over running their required operation is obviated, thereby enabling the operator at the distant station to more accurately control the course of the torpedo.

While certain novel features of the invention have been shown and described and are pointed out in the annexed claims, it will be understood that various omissions, substitutions and changes in the forms and details of the device illustrated and in its operation may be made by those skilled in the art without departing from the spirit of the invention.

What is claimed is:

1. In a self-propelled body, steering means responsive to remote control, said steering means comprising a direction control member, a first means operatively associated with said control member for selectively positioning said member, receiving means responsive to remote control for initiating the operation of the said first means, locking means associated with said first means for locking said control member in selected position, and means operable in accordance with the position 'of said control member for controlling, the course of said body.

2. In a torpedo, stabilizing means for normally maintaining said torpedo upon a pre-selected course, steering means for altering the course of said torpedo, said steering means comprising a direction control member, a first means operatively associated with said control member for selectively positioning said control member, looking means associated with said first means for locking said control member against displacement beyond a predeterminedamount, and means operable in accordance with the position of said direction control member for modifying the position of those elements of said stabilizing device whereby the course of the torpedo is altered.

3. In a self-propelled body, means for normally maintaining said body upon a pre-selected course, and steering means for selectively altering the course of said body, said steering means comprising a direction control member, a .firstmeans for selectively positioning said control member,

means operable in accordance with the position of said direction control member for modifying the position of the steering elements of the body, and locking means associated with the lastv mentioned means for limiting the operationof the steering means to those actuations necessary to produce an exact pre-determined deviation of the body. Y

4. In a self-propelled body, steering means responsive toremote control, said steering means comprising a direction control member, a first means operatively associated with said control member forselectively positioning said member, receiving means responsive to remote control for initiating the operation of the said first means,

. means operable in accordance with the position of said direction, control member for modifying the, position of the steering elementsof the body, and locking means associated with the last mentioned .means for limiting the operation of the steering means to those actuations necessary to produce an exact predetermined deviation ,of the body.

5. In combination with a self-propelled body means for normally maintaining said body upon a pre-selected course and steering means responsive to remote control for selectively altering the course of said body, said steering means comprising a direction control valve, a first fluid pressure means for selectively positioning said valve, means responsive to remote control for initiating the operation of said first fluid pressure means, a fluid impulse control valve associated with said direction control valve, a second fluid pressure means initiated in response to the actua tion of said impulse control valve and operable in accordance with the position of said direction control valve for modifying the position of, the; steering elements of the body, and delay means for suspending the actuation of said impulse com trol valve a predetermined time after the positioning of said direction control valve is initiated.-

6. In a moving body, means for normally maintaining said body upon a predetermined course, steering means responsive to remote control for selectively altering said course by predetermined amounts, suitable mechanism associated with said steering means for preventing operation thereof beyond said predetermined amount, and locking means associated with said steering means for preventing movement thereof during resetting of said remote control means.

'7. In a moving body, a steering means, a direction control valve adapted to control the operation of said steering means, means for moving said direction control valve into a predetermined position, a member operable in response to movement of said control valve and biased to return to its, original position, means for retarding the return of said member comprising a fan driven by the return movement of said member and means rendered operable when said member approaches its original postiion for completing a control circuit through said valve and thereby operating said steering device.

8. In a moving body, a steering device, a direction control valve for controlling the operation thereof, a movable cam operable in one direction in response to movement of said valve and biased to return to its original position, means for retarding the return movement of said cam and means controlled by said cam for completing a working circuit through said valve when said cam approaches its original position whereby said steering device is actuated to steer said body in accordance with the setting of said valve.

9. In a moving body, a steering device therefor, a direction control valve for controlling the operation of said steering device, means for periodically completing a circuit through said valve, a delay mechanism comprising a cam movable in one direction in response to movement of said valve and biased to return to its original position, and a fan operable in response to return movement of said cam, said fan operating to retard said return movement.

10. In a moving body, a steering mechanism, a direction control valve for controlling the operation of said steering mechanism, means responsive to a control impulse for positioning said valve, means to prevent overrunning of said valve whereby the desired position is assured and means for locking said valve to prevent further movement until the neXt control impulse is received.

ALBERT D. TRENOR. 

